CN113842213B

CN113842213B - Surgical robot navigation positioning method and system

Info

Publication number: CN113842213B
Application number: CN202111035741.XA
Authority: CN
Inventors: 张逸凌; 刘星宇
Original assignee: Longwood Valley Medtech Co Ltd
Current assignee: Zhang Yiling; Longwood Valley Medtech Co Ltd
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2022-10-11
Anticipated expiration: 2041-09-03
Also published as: CN113842213A; WO2023029362A1

Abstract

The application discloses a navigation and positioning method and system for a surgical robot. The method comprises the following steps: generating preoperative planning information, wherein the preoperative planning information comprises a three-dimensional model of a bone and a bone prosthesis model determined based on the three-dimensional model of the bone; and carrying out pre-test simulation assembly by using the prosthesis model. Generating intraoperative planning information, and registering a three-dimensional model coordinate system of a skeleton and a world coordinate system of the skeleton of an intraoperative patient to obtain a skeleton entity model; the efficiency and accuracy of registration are improved. Obtaining key data of a skeleton, and visually displaying the key data in a skeleton entity model; and controlling the mechanical arm according to the space position of the current target area and the space position of an actuator at the tail end of the mechanical arm of the robot so as to limit the motion of the actuator in the current target area. Avoiding the accidental injury of the patient caused by the deviation from the target area.

Description

Surgical robot navigation positioning method and system

Technical Field

The application relates to the technical field of medical instruments, in particular to a navigation and positioning method and system for a surgical robot.

Background

When a doctor performs a bone surgery, the doctor needs to use an electric knife saw to cut the bone. When in operation, doctors generally carry out the operation according to own experience, and the manual operation is often inaccurate in positioning, easy to cut by mistake and lower in safety.

Disclosure of Invention

The application mainly aims to provide a surgical robot navigation positioning method and system to solve the problem that in the prior art, safety is not high when manual cutting is carried out.

In order to achieve the above object, according to one aspect of the present application, there is provided a surgical robot navigation positioning method including:

generating preoperative planning information including a three-dimensional model of a bone, a bone prosthesis model determined based on the three-dimensional model of the bone, and a plurality of target regions determined based on the bone prosthesis model;

generating intraoperative planning information, and registering a three-dimensional model coordinate system of a skeleton and a world coordinate system of the skeleton of an intraoperative patient to obtain a skeleton entity model; obtaining key data of a skeleton, and visually displaying the key data in a skeleton entity model; in response to an operator adjustment of the bone prosthesis model based on the critical data; determining an adjusted plurality of target regions based on the adjusted bone prosthesis model;

and in response to the fact that the operator selects one target area from the adjusted target areas as the current target area, controlling the mechanical arm according to the space position of the current target area and the space position of an actuator at the tail end of the mechanical arm of the robot so as to limit the movement of the actuator in the current target area.

In one embodiment, the step of controlling the robot arm to confine the movement of the actuator within the current target area based on the spatial position of the current target area, the spatial position of the actuator at the end of the robot arm of the robot, comprises:

before the actuator operates, when the mechanical arm moves to the skeleton, determining the current spatial positions of the actuator and the current target area in the three-dimensional solid model according to the current positions of the tracer on the tail end of the mechanical arm and the tracer on the skeleton, which are acquired by the tracking camera;

and displaying indication adjustment information for adjusting the actuator to the current target area in the three-dimensional solid model, so that an operator operates the mechanical arm according to the indication adjustment information, the mechanical arm drives the actuator to move to the outer edge of the current target area, and the plane of the actuator is coplanar with the current target area.

In one embodiment, the step of controlling the robot arm to confine the movement of the actuator within the current target area based on the spatial position of the current target area and the spatial position of the actuator at the end of the robot arm of the robot further comprises:

after the plane of the actuator is coplanar with the current target area, operating the actuator when the mechanical arm is operated;

and starting a Cartesian damping control mode taking the virtual springs and the dampers as a model, and outputting a feedback force F opposite to the operated direction by the mechanical arm on the basis of preset rigidity values C of the virtual springs in the multiple freedom degrees and offset quantity delta x of the actuator relative to the current target area in the multiple freedom degrees, wherein F = delta x C, so that the movement of the actuator is limited in the current target area.

In one embodiment, the direction of incision of the actuator into the current target area is recorded as a depth direction, the direction in the current target area and perpendicular to the incision direction is recorded as a transverse direction, and the direction perpendicular to the current target area is recorded as a vertical direction; the offset comprises an offset value in a depth direction, an offset value in a transverse direction, an offset value in a vertical direction, an offset value rotating around the depth direction, an offset value rotating around the transverse direction and an offset value rotating around the vertical direction;

the value ranges of the preset rigidity value of the virtual spring in the depth direction and the preset rigidity value of the virtual spring in the transverse direction are both 0N/m-500N/m;

the value range of the preset rigidity value of the virtual spring in the vertical direction is 4000N/m-5000N/m;

the value range of the preset rigidity value of the virtual spring taking the vertical direction as the axis rotation direction is 0 Nm/rad-20 Nm/rad;

the value ranges of the preset stiffness value of the virtual spring taking the depth direction as the shaft rotation direction and the stiffness value of the virtual spring taking the transverse direction as the shaft rotation direction are both 200 Nm/rad-300 Nm/rad.

and when the offset is equal to or larger than a preset offset threshold, stopping operating the actuator.

In one embodiment, the preoperative planning information further comprises selecting bony landmark points on the three-dimensional model of the bone as preoperative planning points;

the three-dimensional model coordinate system of the skeleton is registered with a world coordinate system of the skeleton of the patient in operation, and the step of obtaining the skeleton entity model comprises the following steps:

acquiring the spatial position of a preoperative planning point under a three-dimensional model coordinate and the spatial position of an intraoperative marker point on an entity skeleton under a world coordinate system;

carrying out coarse registration on the spatial position of the preoperative planning point in a three-dimensional model coordinate system and the spatial position of the intraoperative marker point in a world coordinate system to obtain a coarse registration matrix;

acquiring the space position of a scribing point set on the skeleton of an entity under a world coordinate system;

and carrying out fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result.

In one embodiment, the step of performing fine registration on the spatial position of the set of line drawing points in the world coordinate system and the three-dimensional model according to the coarse registration matrix to obtain a registration result includes:

reflecting the space position of the scribing point set under the world coordinate system back to the three-dimensional model coordinate system according to the rough registration matrix to obtain the position of the scribing point set under the three-dimensional model coordinate system;

performing neighborhood space search on the three-dimensional model according to the position of the scribing point set under a three-dimensional model coordinate system to obtain a first neighborhood space point set;

correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the space position of the scribing point set under the world coordinate system to obtain a corrected scribing point set;

and registering the corrected scribing point set with the space position of the scribing point set under the world coordinate system.

In a second aspect, the present application further provides a surgical robot navigation and positioning system, including:

a preoperative planning module for determining preoperative planning information; the preoperative planning information includes a three-dimensional model of a bone, a bone prosthesis model determined based on the three-dimensional model of the bone, and a plurality of target regions determined based on the bone prosthesis model;

the intraoperative adjustment module is used for generating intraoperative planning information, and registering a three-dimensional model coordinate system of a skeleton with a world coordinate system of the skeleton of the intraoperative patient to obtain a skeleton entity model; obtaining key data of a skeleton, and visually displaying the key data in a skeleton entity model; in response to an operator adjustment of the bone prosthesis model based on the critical data; determining an adjusted plurality of target regions based on the adjusted bone prosthesis model;

and the execution module is used for responding to a target area selected by an operator from the adjusted target areas as a current target area, and controlling the mechanical arm according to the space position of the current target area and the space position of an actuator at the tail end of the mechanical arm of the robot so as to limit the movement of the actuator in the current target area.

In a third aspect, the present application further provides an electronic device, including: at least one processor and at least one memory; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method of any one of the above.

In a fourth aspect, the present application also proposes a computer-readable storage medium having embodied therein one or more program instructions for executing the method according to any one of the above.

In an embodiment of the present application, preoperative planning information is generated, the preoperative planning information including a three-dimensional model of a bone, a bone prosthesis model determined based on the three-dimensional model of the bone, and a plurality of target regions determined based on the bone prosthesis model; the two models can be simulated and installed, preoperative visual simulation of prosthesis replacement is realized, the precision of a bone replacement operation is improved, and the defects of low operation precision and poor safety caused by the fact that preoperative planning of the bone replacement depends on artificial experience in the related technology are overcome. Generating intraoperative planning information, and registering a three-dimensional model coordinate system of a skeleton and a world coordinate system of the skeleton of an intraoperative patient to obtain a skeleton entity model; compared with the traditional point-taking registration algorithm, the method has the advantages that the registration efficiency is greatly improved, and the registration accuracy is also greatly improved. And controlling the mechanical arm to limit the motion of the actuator in the current target area according to the spatial position of the target area and the spatial position of the actuator at the tail end of the mechanical arm of the robot. The deviation of the actuator from the target area can be effectively avoided, so that unnecessary injury to a patient caused by the deviation from the target area is avoided as much as possible.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1A is a surgical scene diagram according to an embodiment of the present application;

FIG. 1B is a schematic diagram of a robotic system assembly according to an embodiment of the present application;

FIG. 2 is a flow chart of a surgical robot navigation positioning method according to an embodiment of the present application;

FIG. 3A is a schematic representation of a three-dimensional reconstruction of a knee joint according to an embodiment of the present application;

FIG. 3B is a schematic diagram of keypoint identification and labeling according to an embodiment of the present application;

FIG. 3C is a schematic illustration of a prosthesis planning according to an embodiment of the present application;

FIG. 3D is a schematic representation of a simulated post-operative preview according to an embodiment of the application;

FIG. 4A is a schematic view of a tibial osteotomy in plan view according to an embodiment of the present application;

FIG. 4B is a schematic plan view of a femoral resection according to an embodiment of the present application;

fig. 5A is a coronal reference view of a tibial prosthesis installation in accordance with an embodiment of the present application;

FIG. 5B is a cross-sectional reference view of a tibial prosthetic device installed according to an embodiment of the present application;

FIG. 5C is a sagittal plane reference view of a tibial prosthesis installation according to an embodiment of the present application;

FIG. 5D is a coronal reference view of a femoral prosthesis installation in accordance with an embodiment of the present application;

FIG. 5E is a transverse end reference view of a femoral prosthesis installation in accordance with an embodiment of the present application;

FIG. 5F is a sagittal plane reference view of a femoral prosthesis installation according to an embodiment of the present application;

FIG. 6A is a representation of a straightened position of a knee joint according to an embodiment of the present application;

FIG. 6B is a view of a knee joint in flexion simulation according to an embodiment of the present application;

FIG. 7A is a schematic diagram of a three-dimensional femoral marker model according to an embodiment of the present application;

FIG. 7B is a schematic view of a three-dimensional tibial marker model according to an embodiment of the present application;

FIG. 8 is a schematic illustration of a condition for preparing an osteotomy in accordance with an embodiment of the present application;

FIG. 9 is a schematic diagram of a coarse registration in accordance with an embodiment of the present application;

fig. 10 is a schematic view of a line being scribed on the surface of a tibia according to an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a knee joint surgical robot navigation and positioning system according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The surgical robot navigation and positioning method and system of the embodiment can be applied to preoperative planning and intraoperative assistance of bone surgery, such as knee joint replacement surgery, hip joint replacement surgery, spine surgery and the like.

Referring to a scene diagram of an operation proposed by the present application shown in fig. 1A and a robot composition diagram shown in fig. 1B; the robot includes: the system comprises a host computer main control system 11, a mechanical arm system 12 and an optical navigator system 13. The host computer main control system 11, the mechanical arm system 12 and the optical navigator system 13 mutually transmit data in a wired or wireless mode.

The upper computer main control system 11 mainly comprises an upper computer and a display screen. The upper computer is used for carrying out various operation processing on the images, and a prosthesis library is further stored in the upper computer and used for planning and selecting types before operation.

The optical navigator system 13 is provided with an NDI optical camera (e.g., an infrared binocular camera), an image acquisition system, and a display screen; the NDI optical camera can track optical balls on the tail end of the mechanical arm and bones (such as thighbones and shinbones of knee joints), and the upper computer determines the target area of the bones and the tail end of the mechanical arm according to the positions of the optical balls tracked by the NDI optical camera. And a display screen of the upper computer main control system 11 and a display screen of the optical navigator system 13 synchronously display three-dimensional images of the skeleton.

The robotic arm system 12 may include a control system for the robotic arm and the robotic arm; wherein, the control system of mechanical arm is used for controlling the motion of mechanical arm. The method comprises the following steps: various actions such as forward, backward, and rotation; and controlling the starting and stopping of the mechanical arm.

The tail end of the mechanical arm is provided with an actuator, and when the navigation positioning method and the navigation positioning system of the surgical robot are applied to knee joint replacement surgery, the actuator can be a saw blade and is used for cutting bones. The target region may be an osteotomy plane as described below.

The present application provides a navigation and positioning method for a surgical robot, which is shown in the flowchart of fig. 2; the method comprises the following steps:

step S202, preoperative planning information is generated, the preoperative planning information including a three-dimensional model of a bone, a bone prosthesis model determined based on the three-dimensional model of the bone, and a plurality of target regions determined based on the bone prosthesis model.

Specifically, after a medical image of a bone is obtained, the medical image is segmented and three-dimensionally reconstructed to obtain a three-dimensional bone model of the bone. Determining bone key parameters based on the three-dimensional bone model; determining the type and model of the three-dimensional bone prosthesis model based on the bone key parameters.

In this embodiment, after obtaining bone CT or nuclear magnetic image data of a target user, image segmentation may be performed on a scanned image through a neural network model, and the scanned image may be segmented into regions with different particle sizes as required, for example, a bone CT image obtained of a knee joint is segmented to obtain a femoral region and a tibial region, or may be segmented into a femoral region, a tibial region, a fibula region and a patellar region as required; then, three-dimensional reconstruction can be performed on the segmented images of the regions to obtain three-dimensional images of the bone regions, and referring to fig. 3A, a three-dimensional bone model is obtained based on CT or nuclear magnetic data.

Referring to fig. 3B, the bone key parameters may include bone key anatomical points, bone key axes, and bone size parameters, and the bone key anatomical points may be identified based on a deep learning algorithm, such as a neural network model, and the identified bone key anatomical points may be labeled on a three-dimensional bone model.

The bone dimensions may include the lateral diameter of the femur, the anteroposterior diameter of the femur, the lateral diameter of the tibia, and the anteroposterior diameter of the tibia, the lateral diameter of the femur being determined from a line connecting the medial and lateral edges of the femur, the anteroposterior diameter of the femur being determined from a line connecting the anterior cortex of the femur and the posterior condyles of the femur, the lateral diameter of the tibia being determined from a line connecting the medial and lateral edges of the tibia, and the anteroposterior diameter of the tibia being determined from a line connecting the anterior and posterior edges of the tibia.

The bone key axes are determined based on the bone key anatomical points, and the bone key angles are determined based on the bone key axes. And the determination of the type and model of the three-dimensional bone prosthesis model is facilitated based on the bone key axis and the bone key angle. Three-dimensional skeletal prosthesis models of knee joints generally include a three-dimensional femoral prosthesis model, a three-dimensional tibial prosthesis, and a shim model connecting the three-dimensional tibial prosthesis model and the three-dimensional femoral prosthesis model.

The three-dimensional bone prosthesis model can be a prosthesis model for total knee replacement in the existing market, the three-dimensional bone prosthesis model has multiple types, and each type of three-dimensional bone prosthesis model has multiple types. For example, the types of three-dimensional femoral prosthesis models are ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc., and the types of ATTUNE-PS are 1, 2, 3N, 4N, 5N, 6N. The preoperative planning system can intelligently recommend the model of the prosthesis from the prosthesis library, and an operator can also select the type and the model of the skeletal prosthesis model from the prosthesis library through an interactive interface based on the skeletal key axis and the skeletal key angle to adjust the placement position and the placement angle of the skeletal prosthesis model. Referring to fig. 3C, the model of the prosthesis can be displayed in the interface, the model of the prosthesis can be changed, and the coverage effect after the change can be observed.

Illustratively, the bone key axis, bone key angle may be determined in the following manner

The tibia mechanical axis is determined from the tibia knee joint center (the center of an intercondylar spine) to the tibia ankle joint center (the midpoint of a bone cortex connecting line on the outer side of the medial malleolus and the outer malleolus); the tibia anatomy axis is determined by the central line of the backbone of the tibia, and the tibia mechanical axis is parallel to the tibia anatomy axis.

Based on that one end point of a femur dissection axis is a femoral shaft central point located in the middle of the width of the inner side and the outer side of a femoral shaft at the far end (the uppermost point of a femoral head) and the near end (the part of the inner side condyle far end of the femur), and the other end point is located at 10 cm on a knee joint surface and divides the bone cortex of the inner side and the outer side; one of the mechanical femoral axes is disconnected at the center of the hip joint, and the other end point is located at the center point of the knee joint of the femur (the vertex of the intercondylar notch).

A posterior condylar connecting line is obtained based on a connecting line between the lowest points of the inner and outer femoral condyles, and a through condylar line is obtained based on a connecting line between the concave femoral condyle and the highest point of the outer femoral condyle.

Obtaining a tibia angle based on an included angle formed by the femur mechanical axis and the tibia mechanical axis; the distal femoral angle is obtained based on the angle between the femoral mechanical axis and the anatomical axis. And obtaining the femoral posterior condylar angle PCA according to the included angle between the projection lines of the femoral condyle through line and the posterior condylar connecting line on the cross section.

Illustratively, implementations in which the preoperative planning system determines the prosthesis model number through the interactive interface may include: configuration items of each three-dimensional bone prosthesis model can be set on the interface, for example, the configuration items can be a three-dimensional femur prosthesis model configuration item, a three-dimensional tibia prosthesis model configuration item, and a three-dimensional shim model configuration item, when a certain configuration item is triggered (for example, a selected mode triggers the configuration item), a corresponding prosthesis library can be automatically matched, then which prosthesis model in the prosthesis library is triggered is detected, and a triggered prosthesis model signal is used as a replacement prosthesis. For example, when the configuration item of the femoral prosthesis model is triggered, the configuration item can be associated with the femoral prosthesis library, then the models of all the prostheses in the femoral prosthesis library are displayed on the interface, and then it is detected which type of femoral prosthesis model and which model of femoral prosthesis model under the type are triggered, so that the triggered femoral prosthesis model is selected as the femoral prosthesis model.

Implanting the selected three-dimensional bone prosthesis model into the three-dimensional bone model. Adjusting a placement position and a placement angle of the three-dimensional bone prosthesis model based on the bone key parameters and the type and model of the three-dimensional bone prosthesis model.

In this embodiment, the three-dimensional bone prosthesis model and the three-dimensional bone model may be displayed in a superimposed manner by the three-dimensional model, so as to realize the simulated installation of the three-dimensional bone prosthesis.

In the embodiment, the matching adjustment process and the matching effect of the three-dimensional bone model and the three-dimensional prosthesis model are displayed in a three-dimensional visualization mode. After the three-dimensional bone model implanted with the three-dimensional bone prosthesis model is obtained, whether the femur prosthesis model is installed and adapted with the three-dimensional femur model or not can be determined based on the femur valgus angle, the femur varus angle, the femur supination angle, the femur internal rotation angle, the femur left-right diameter and the femur front-back diameter.

Whether the tibia prosthesis model is matched with the three-dimensional tibia model in an installed mode can be determined based on the tibia varus angle, the femur valgus angle, the tibia left-right diameter and the tibia anteroposterior diameter.

Referring to fig. 3D, post-operative previews may be simulated. During the post-operative preview, the prosthesis can be observed for fit.

As an optional implementation manner of this embodiment, the three-dimensional bone model includes a three-dimensional femur model, the three-dimensional bone prosthesis model includes a three-dimensional femur prosthesis model, the bone key parameters include femur key parameters, and the femur key parameters include a femur mechanical axis, a femur condyle access line, a posterior condyle connecting line, a femur right-left diameter, and a femur anterior-posterior diameter; the step of adjusting the placement position and the placement angle of the three-dimensional bone prosthesis model based on the bone key parameters and the type and model of the three-dimensional bone prosthesis model comprises: adjusting the placement position of the three-dimensional femoral prosthesis model based on the femur left-right diameter and the femur front-back diameter; adjusting the varus angle or valgus angle of the three-dimensional femoral prosthesis model to enable the cross section of the three-dimensional femoral prosthesis model to be perpendicular to the mechanical axis of the femur; and adjusting the internal rotation angle or the external rotation angle of the three-dimensional femoral prosthesis to enable the femoral posterior condylar angle PCA (included angle between the projection line of the femoral condyle through line and the posterior condylar connecting line on the cross section) to be within a preset range.

In this optional implementation manner, when the placement position of the femoral prosthesis model satisfies that the femoral prosthesis model can cover the left and right sides of the femur, and the front and back of the femur, the installation position is appropriate.

Determining a femur eversion angle and a femur varus angle in real time according to the relative angle between the central axis of the femur prosthesis model in the up-down direction of the coronal plane and a femur force line based on the current position of the femur prosthesis model, and determining an external rotation angle and an internal rotation angle according to the relative angle between the transverse axis of the femur prosthesis model and a through condyle line; the femoral flexion angle is determined by the angle of the mechanical axis of the femur and the central axis of the femoral prosthesis model in the anterior-posterior direction of the sagittal plane. By adjusting the above-mentioned angles, it is possible to determine whether the installation angle of the three-dimensional femoral prosthesis model is proper, for example, when the varus/valgus angle is adjusted to 0 ° and the PCA is generally adjusted to 3 °, it is determined that the placement position and placement angle of the femoral prosthesis model are adjusted to the proper positions. As an optional implementation manner of this embodiment, the three-dimensional bone model further includes a three-dimensional tibia model, and the three-dimensional femoral prosthesis model further includes a three-dimensional tibia prosthesis model; the bone key parameters also comprise tibia key parameters, and the tibia key parameters comprise a tibia mechanical axis, a tibia left-right diameter and a tibia front-back diameter; the step of adjusting the placement position and the placement angle of the three-dimensional bone prosthesis model based on the bone key parameters and the type and model of the three-dimensional bone prosthesis model comprises: adjusting the placement position of the three-dimensional tibial prosthesis model based on the left-right diameter of the tibia and the anterior-posterior diameter of the tibia; and adjusting the varus angle or the valgus angle of the three-dimensional tibial prosthesis to ensure that the mechanical tibial axis is vertical to the cross section of the three-dimensional tibial prosthesis.

In this optional implementation manner, in addition to determining the installation position and the angle in the above manner, the back tilt angle of the tibial prosthesis may be determined according to the design principle of the tibial prosthesis, and the adjustment size of the flexion angle of the tibial prosthesis may be determined based on the physiological characteristics of the patient and adjusted to 0 ° or other, so as to avoid notch and Over.

As an alternative implementation manner of this embodiment, after the step of adjusting the placement position and the placement angle of the three-dimensional bone prosthesis model, the method of this embodiment further includes: performing simulated osteotomy based on the matching relationship between the three-dimensional skeleton prosthesis model and the three-dimensional prosthesis model to obtain a three-dimensional skeleton postoperative simulation model; performing motion simulation including a straightening position and a bending position on the three-dimensional femoral post-operation simulation model; determining a straightening gap in a straightening state and a buckling gap in a buckling state; and comparing the extension gap with the flexion gap, and performing matching verification on the three-dimensional bone prosthesis model.

In this optional implementation, the bone osteotomy thickness is determined according to a bone prosthesis model design principle, and different bone prosthesis models may correspond to different osteotomy thicknesses; after the bone prosthesis model is matched with the bone, the osteotomy plane can be determined.

The osteotomy planes may include a femoral osteotomy plane and a tibial osteotomy plane. Referring to fig. 4A, the tibial osteotomy plane is the tibial plateau; referring to fig. 4B, the femoral resection planes can include a femoral anterior resection plane, a femoral anterior oblique resection plane, a femoral posterior condylar resection plane, a femoral posterior oblique resection plane, a femoral distal resection plane.

After the placement position and the placement angle of the three-dimensional skeleton prosthesis model are adjusted, simulation osteotomy is performed based on the matching relationship between the three-dimensional skeleton prosthesis model and the three-dimensional skeleton model, and a three-dimensional skeleton postoperative simulation model is obtained. Referring to fig. 5A, 5B and 5C, the hatched portion is a tibial prosthesis, and fig. 5A to 5C are reference views of the tibial prosthesis mounted to the tibia after osteotomy at different angles. Referring to fig. 5D, 5E, and 5F, the hatched portion is a femoral prosthesis, and fig. 5D to 5F are reference views of the femoral prosthesis at different viewing angles after matching the femoral prosthesis model.

After obtaining the three-dimensional bone postoperative simulation model, the extension gap can be determined by the extension position simulation diagram as shown in fig. 6A; the buckling gap was determined by a buckling bit simulation plot as in fig. 6B. And determining whether the three-dimensional bone prosthesis model is matched with the three-dimensional bone model after osteotomy based on the extension gap and the flexion gap. Whether the size and the position of the prosthesis are proper or not can be observed from different angles through simulating the installation effect of the prosthesis, whether collision and dislocation of the prosthesis occur or not can be observed, and whether the prosthesis is matched with bones or not can be accurately determined. The user can determine whether the prosthesis model needs to be adjusted again through the final simulation image, if the prosthesis model is changed, the prosthesis library can be called again, and the replaced three-dimensional bone post-operation simulation model is generated based on the new bone prosthesis model. By simulating the expected effect after surgery, the final bone prosthesis model can be made to more closely match the knee joint of the patient.

In some embodiments, the method for preoperative planning of knee replacement may further comprise: determining three-dimensional coordinates of a central point of a femoral medullary cavity based on the three-dimensional femoral model; creating an intramedullary positioning simulation rod through a circle fitting method; the femoral intramedullary opening point is determined by an intramedullary positioning simulation rod.

In an alternative implementation, the position of the needle insertion point of the simulated rod in the femoral bone marrow is determined in the knee replacement, wherein the vertex of the intercondylar notch can be used as the position of the needle insertion point of the simulated rod in the femoral bone marrow, and the position of the needle insertion point can be used as the femoral medullary opening point. In operation, the intramedullary positioning simulation rod and the femoral medullary opening point are visually displayed on the three-dimensional bone model to guide a doctor to open the medullary.

Step S204, generating intraoperative planning information, and registering a three-dimensional model coordinate system of a skeleton and a world coordinate system of the skeleton of an intraoperative patient to obtain a skeleton entity model; obtaining key data of a skeleton, and visually displaying the key data in a skeleton entity model; in response to an operator adjustment of the bone prosthesis model based on the critical data; determining an adjusted plurality of target regions based on the adjusted model of the bone prosthesis.

When applied to knee surgery, the critical data for the bone may include dynamic force line data for the knee in motion.

After the world coordinate system is registered to the three-dimensional model coordinate system, tracing devices (provided with a plurality of optical small balls) on the thighbone and the shinbone of the knee joint are tracked through an infrared binocular camera, and dynamic force line data of the knee joint are acquired. Through the visual display of the placing position and the placing angle of the prosthesis model and the visual display of the dynamic force line data of the knee joint, a doctor can conveniently adjust the mounting position and the placing angle of the prosthesis model according to the dynamic force line data, so that the prosthesis model is matched with the knee joint of a patient more.

And step S206, in response to the fact that one target area selected by the operator from the adjusted plurality of target areas is used as the current target area, controlling the mechanical arm according to the space position of the current target area and the space position of an actuator at the tail end of the mechanical arm of the robot so as to limit the movement of the actuator in the current target area.

The preoperative planning information may further include a sequence of the operated target regions, which provides reference for the physician during the operation, and facilitates the physician to select one of the target regions as the current target region currently operated. When the surgical robot navigation positioning method and system are applied to knee joint replacement surgery, the target area may be the osteotomy plane.

After the preoperative plan is finished, the preparation work of the mechanical arm is started, and the preparation work specifically comprises the following steps: and parameter setting work in the aspects of mechanical arm control, mechanical arm calibration and the like. For example, the speed of the movement of the robot arm can be set, and operations such as initial position setting, film covering position setting, preparation position setting, brake testing, zero returning, teaching, stopping and the like can be performed.

Specifically, the step S206 includes the following three ways according to the state of the actuator before and during operation.

In one embodiment, step S206 includes the steps of, before the actuator is operated, determining a current spatial position of the actuator and a current target region in the three-dimensional solid model according to the current positions of the tracer on the end of the mechanical arm and the tracer on the skeleton, which are acquired by the tracking camera, when the mechanical arm moves to the skeleton;

and displaying indication adjustment information for adjusting the actuator to the current target area in the three-dimensional solid model, so that an operator operates the mechanical arm according to the indication adjustment information, the mechanical arm drives the actuator to move to the outer edge of the current target area, and the actuator and the current target area are coplanar.

As shown in fig. 8, the actuator may highlight the current target area of the bone in the three-dimensional model before the osteotomy, for example, by color rendering the current target area to provide a reference for the doctor.

In one embodiment, step S206 further includes the step of operating the actuator when the robot arm is operated after the actuator is coplanar with the current target area;

In which the behaviour of the robot in cartesian damping control mode is compliance sensitive and can react to external influences, such as obstacles or process forces. Application of an external force may cause the robot to move away from the planned orbital path.

This model is based on a virtual spring and damper implementation that stretch as a function of the difference between the current measurement and the specified position of the TCP (Tool Center Point). The spring is characterized by a stiffness value (stiff) and the damper is characterized by a damping value (damming). These parameters can each be set individually in each translational or rotational dimension. In any one target area, a relatively large rigidity value is set in the direction perpendicular to the target area, and the rigidity value is larger than a preset threshold value so as to limit the actuator to move in the direction perpendicular to the target area, and therefore the actuator is effectively prevented from deviating from the target area. The preset threshold value can be flexibly set to limit the actuator to move in the direction perpendicular to the current target area, so that the actuator is effectively prevented from deviating from the current target area.

In one embodiment, the direction in which the actuator cuts into the current target area is recorded as a depth direction, the direction perpendicular to the cutting direction in the current target area is recorded as a transverse direction, and the direction perpendicular to the current target area is recorded as a vertical direction; the offset includes an offset value in a depth direction, an offset value in a lateral direction, an offset value in a vertical direction, an offset value rotated in the depth direction, an offset value rotated in the lateral direction, and an offset value rotated in the vertical direction.

Illustratively, the preset stiffness value of the virtual spring in the depth direction and the preset stiffness value of the virtual spring in the transverse direction both range from 0N/m to 500N/m, and according to hooke's law, when the force is constant, the smaller the stiffness is, the larger the spring deformation amount is. Therefore, the rigidity in the depth direction is set as small as possible, and displacement of the actuator in this direction can be facilitated. In the transverse direction, the stiffness provided is also relatively low, also to facilitate movement of the actuator in that direction to make the cut.

The value range of the preset rigidity value of the virtual spring in the vertical direction is 4000N/m-5000N/m, and according to Hooke's law, when the force is constant, the larger the rigidity is, the smaller the deformation quantity of the spring is. Therefore, the stiffness in the Z direction is set to be as large as possible, which can help to avoid the actuator from being displaced in the Z direction, because if the actuator is directly caused to leave the current target area after the displacement in the Z direction, it is not allowed to easily cause injury to the patient.

The value range of the preset rigidity value of the virtual spring taking the vertical direction as the axis rotation direction is 0 Nm/rad-20 Nm/rad, so that the actuator can rotate in the current target area taking the vertical direction as the axis.

The value ranges of the preset rigidity value of the virtual spring taking the depth direction as the shaft rotation direction and the rigidity value of the virtual spring taking the transverse direction as the shaft rotation direction are both 200 Nm/rad-300 Nm/rad, the displacement of the actuator taking the depth direction as the shaft rotation and the transverse direction as the shaft rotation is limited, the actuator is further prevented from being separated from the current target area, and the safety of osteotomy is ensured.

Of course, the value range may be other range values. Specifically, when the spring rates in the different degrees of freedom are set, the setting can be performed using the function setstifness (…) (type: double).

In one embodiment, step S206 further comprises: and stopping running the actuator when the offset is equal to or greater than a preset offset threshold.

After the actuator is stopped, the process returns to the previous step to readjust the actuator to be coplanar with the target area. Specifically, indication adjustment information for adjusting the actuator to the current target area is displayed in the three-dimensional solid model, so that an operator can operate the mechanical arm according to the indication adjustment information, the mechanical arm drives the actuator to move to the outer edge of the current target area, and the plane of the actuator is coplanar with the current target area. After the adjustment has achieved coplanarity, the osteotomy is resumed.

In one embodiment, in step S204, the step of registering the coordinate system of the three-dimensional model of the bone with the coordinate system of the world in which the bone of the intraoperative patient is located to obtain the bone solid model includes:

acquiring the spatial position of a planning point before operation under the three-dimensional model coordinate and the spatial position of an intraoperative marker point on the skeleton of an entity (patient) under a world coordinate system;

carrying out coarse registration on the spatial position of the preoperative planning point under a three-dimensional model coordinate system and the spatial position of the intraoperative marking point under a world coordinate system to obtain a coarse registration matrix;

Specifically, the preoperative planning information further includes selecting bony landmark points on the three-dimensional model of the bone as preoperative planning points. Preoperatively, preoperative planning points are determined on the bone in a three-dimensional model of the bone. When applied to knee replacement surgery, the three-dimensional knee model may specifically include a three-dimensional femur model and a three-dimensional tibia model. In the process of knee joint replacement surgery, a patient adopts a supine position, a doctor can implant fixing nails on each bone of the knee joint of the patient respectively, and a tracer is installed on each bone. And then taking the inner side of the knee joint to enter, incising the skin and subcutaneous tissues, entering the joint to fully expose the tibial plateau, and sequentially registering and registering each bone of the knee joint.

The intraoperative marker points are a plurality of points marked on the bone by a doctor in an operation by using an operation probe, the marking point set is determined by marking on the bone by the doctor in the operation by using the operation probe, the operation probe is provided with a plurality of optical pellets, and the upper computer determines the spatial positions of the intraoperative marker points and the marking point set under a world coordinate system according to the positions of the optical pellets tracked by the tracking camera.

In the bone registration process, the optical navigation positioning system acquires the spatial position of a preoperative planning point on a bone in a three-dimensional model of the bone under a three-dimensional model coordinate system and the spatial position of an intraoperative marker point on a solid bone under a world coordinate system. For example, 40 bone anchor points may be acquired as intraoperative marker points. See fig. 7A, 7B.

The registration process for a three-dimensional model can be divided into two phases: a coarse registration stage and a fine registration stage. In the coarse registration stage, a preset three-dimensional space point cloud searching mode can be adopted for coarse registration.

In an alternative manner of this embodiment, the coarsely registering the spatial position of the preoperative planning point in the three-dimensional model coordinate system with the spatial position of the intraoperative marker point in the world coordinate system includes: performing triangulation processing on preoperative planning points according to spatial positions of the preoperative planning points under a three-dimensional model coordinate system and performing triangulation processing on the intraoperative marking points according to spatial positions of the intraoperative marking points under a world coordinate system by a preset three-dimensional space point cloud searching mode to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points; correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate system according to a planning triangular sequence by a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point; and registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points.

The intraoperative marker points and the preoperative planning points are point sets. The preoperative planning points can be triangulated according to the spatial positions of the preoperative planning points in the three-dimensional model coordinate system, and the intraoperative marking points are triangulated according to the spatial positions of the intraoperative marking points in the world coordinate system. Triangularization processing means that every three points form a triangle, the forming principle of the triangle is that the perimeter is the largest, and points in the triangles can be overlapped, so that an actual operation triangular sequence corresponding to the mark points in the operation and a planning triangular sequence corresponding to the planning points before the operation are obtained. Further, by presetting a three-dimensional space point cloud search mode, triangularizing the preoperative planning points according to the spatial positions of the preoperative planning points under the three-dimensional model coordinate system, and triangularizing the intraoperative marking points according to the spatial positions of the intraoperative marking points under the world coordinate system, and obtaining an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points comprises: forming the first three points of the preoperative planning points into a triangle according to the spatial position of the preoperative planning points under the three-dimensional model coordinate system, and forming the first three points of the intraoperative marking points into a triangle according to the spatial position of the intraoperative marking points under the world coordinate system; respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same. The intra-operative marker points are triangulated in the same manner as the pre-operative planning points.

For example, for the preoperative planning points, assuming that the arrangement sequence of point clouds in the preoperative planning points is P1, P2, and P3.. Pn, the first three points automatically form a triangle, two points from the previous points need to be selected from the fourth point to form a triangle with the current point, and the selection principle is that the perimeter of the triangle formed after selection is the largest. Several triangle sequences are obtained according to this principle. The way in which the intraoperative marker points generate a triangular sequence is the same as the way in which the preoperative planning points.

In this optional implementation manner, the correcting the spatial position of the preoperative planning point in the three-dimensional model coordinate system according to the planning triangular sequence by presetting a three-dimensional space point cloud search manner includes: determining a second neighborhood space point set on the three-dimensional model according to the spatial position of the preoperative planning point under the three-dimensional model coordinate system in a preset three-dimensional space point cloud searching mode; screening out a second target point set from the second neighborhood space point set; and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position of the second target point set according to the planning triangular sequence.

Specifically, a second neighborhood space point set of preoperative planning points of a system under the three-dimensional model coordinates on the three-dimensional model is determined through a preset three-dimensional space point cloud searching mode. The second neighborhood space set of points includes a large number of points.

And for the current triangle, screening a target point corresponding to each triangle point of the current triangle in the second neighborhood space point set according to a preset screening strategy to obtain a first target point set. The preset screening strategy is that the triangle formed by the screened three target points and the triangle in the actual operation triangle sequence are congruent triangles. Because the congruent triangle has extremely small error, the spatial positions of three triangular points of the current triangle under the three-dimensional model coordinate can be respectively corrected to the positions of corresponding target points, the correction process is repeated, the spatial positions of preoperative planning points under the three-dimensional model coordinate are continuously corrected through a large number of triangles in the planning triangular sequence, and then the corrected preoperative planning points which are most similar to intraoperative marker points are obtained.

And then, registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points through a registration algorithm to obtain a registration result. For example, the registration algorithm may be ICP (Iterative Closest Point algorithm). When the registration is complete, the preoperative planning point may become transparent. For example, the three-dimensional model of the preoperative plan may include a three-dimensional femoral model, which may be as shown in fig. 7A, with points being femoral marker points, and a three-dimensional tibial model, which may be as shown in fig. 7B, with points being tibial marker points. And registering the femur marking points in the intraoperative marking points with the femur planning points, wherein the registration points become transparent after the registration is completed. Correspondingly, the tibia mark points in the intraoperative mark points are registered with the tibia planning points, and after the registration is completed, the registration points become transparent, which is shown in a bone preparation diagram shown in fig. 8.

Illustratively, as shown in fig. 9, a schematic diagram of the rough registration of the spatial position of the preoperative planning point in the coordinate system of the three-dimensional model and the spatial position of the intraoperative marker point in the coordinate system of the world is shown. Wherein, the points in A represent intraoperative marker points; points in a represent preoperative planning points; b represents triangular points which can form a triangle in the marker points in the operation; b represents triangle points of which the preoperative planning points can form a triangle; c, representing a process of screening target points in a neighborhood space point set corresponding to the preoperative planning point, wherein small points represent the target points; d represents a process of correcting the position of the triangular point in b to the position of the target point; e represents the corrected triangular points obtained after correcting the positions of the triangular points in the b; f represents the registration process of the triangle points in B and the triangle points after correction in e by a classical ICP registration algorithm.

In the embodiment, the preoperative planning points are corrected according to the planning triangle sequence by triangularizing the intraoperative marker points and the preoperative planning points, so that the corrected preoperative planning points are obtained.

Specifically, after the coarse registration is completed, the second stage of fine registration is required. In the fine registration stage, preoperative planning is not required, scribing operation can be performed on the surface of the solid bone by using surface calibration equipment such as an operation probe and the like in the operation, and a scribing point set of each bone surface is acquired through the scribing operation. The scribe areas where scribing is required are critical bone areas on the surface of each bone, i.e. areas containing critical bone points.

Illustratively, the position of a tracer on a surgical probe is tracked through a tracking camera in an optical navigation positioning system, and the spatial position of a scribing point set on a solid skeleton under world coordinates is determined according to the spatial position of the tracer on the surgical probe under a world coordinate system in the scribing process, which is acquired by the tracking camera, so as to obtain the scribing point set.

Fig. 10 is a solid view of a score line obtained by performing a score operation on the surface of the tibia. Wherein A, B, C are the lines drawn on the tibial surface, respectively.

In an alternative manner of this embodiment, in the scribing operation, sampling may be performed by the surgical probe at the frequency S, and the sampling operation is performed on the line, so that the whole line segment is subdivided into several point sets.

In the fine registration process, a neighborhood space point set of the scribing point set on the three-dimensional model can be determined, so that the space position of the scribing point set under the coordinate system of the three-dimensional model is corrected according to the neighborhood space point set and the space position of the scribing point set under the world coordinate system, and the corrected space positions of the scribing point set and the scribing point set under the world coordinate system are registered.

In an alternative manner of this embodiment, the performing, according to the coarse bone registration matrix, a fine registration of the spatial position of each set of bone scribe lines in the world coordinate system with each three-dimensional bone model includes: reflecting the space position of each skeleton marking point set under the world coordinate system back to the three-dimensional model coordinate system according to each skeleton coarse registration matrix to obtain the position of the marking point set under the three-dimensional model coordinate system; performing neighborhood space search on each skeleton three-dimensional model according to the position of each skeleton scribing point set under a three-dimensional model coordinate system to obtain a first neighborhood space point set; correcting the space position of each skeleton scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set of each skeleton and the space position of each skeleton scribing point set under the world coordinate system to obtain a corrected scribing point set; and registering the marking point set after each skeleton correction with the space position of each skeleton marking point set in a world coordinate system.

And the coarse registration matrix represents the conversion relation between the world coordinate system and the three-dimensional model coordinate system obtained by coarse registration. According to the rough registration matrix, the space position of the scribing point set under the world coordinate system can be reflected back to the three-dimensional model coordinate system, and therefore the position of the scribing point set under the three-dimensional model coordinate system is obtained. Because the three-dimensional model corresponds to the three-dimensional model coordinate system, neighborhood space searching can be carried out on the three-dimensional model according to the position of the scribing point set under the three-dimensional model coordinate system, and a first neighborhood space point set is obtained. The first neighborhood space point set is a neighborhood space point set corresponding to the scribing point set under the three-dimensional model coordinate system.

In an optional manner, the correcting the spatial position of the scribe point set in the three-dimensional model coordinate system according to the first neighborhood space point set and the spatial position of the scribe point set in the world coordinate system includes: carrying out triangular pairing on the points in the scribing point set according to the space position of the scribing point set in the world coordinate system to obtain a paired triangular sequence; and correcting the space position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence.

The set of scribe points is made up of points on a plurality of line segments, and may include points in three line segments, for example. And carrying out triangular pairing on the points in the scribing point set, respectively selecting one point from each line segment, forming a triangle by every three points according to the principle that the perimeter of the triangle is the largest, and obtaining a paired triangle sequence according to the triangular pairing mode. The paired triangle sequence includes a plurality of triangles.

And correcting the spatial position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence by adopting a mode of correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate through the second neighborhood space point set in the rough registration.

Further, the correcting the spatial position of the scribing point set under the three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangle sequence comprises: screening out a first target point set from the first neighborhood space point set; and correcting the space position of the scribing point set under the three-dimensional model coordinate system to the position of the first target point set according to the pairing triangular sequence.

The first neighborhood space set of points includes a large number of points. The matching triangle sequence comprises a plurality of triangles, each triangle comprises three triangle points, and for the current triangle, a target point corresponding to each triangle point of the current triangle can be screened in the second neighborhood space point set according to the matching triangle sequence to obtain a first target point set. The preset screening strategy is that the triangle formed by the screened three target points and the triangle in the matched triangle sequence are congruent triangles. Because the congruent triangle has extremely small error, the space positions of the three triangular points of the current triangle under the three-dimensional model coordinate can be respectively corrected to the positions of the corresponding target points in the first target point set, and the correction process is repeated, so that the space positions of the scribing point set under the three-dimensional model coordinate are continuously corrected through a large number of triangles in the paired triangular sequence, and the space positions of the scribing point set reflected into the three-dimensional model coordinate system are more accurate.

And then, registering the corrected space positions of the scribing point set and the scribing point set under the world coordinate system through a registration algorithm to obtain a registration result. For example, the registration algorithm may be ICP (Iterative Closest Point algorithm). The registration result can be a transformation relation between a finally obtained world coordinate system and the three-dimensional coordinate, and the precision of the operation in the operation can be improved through the registration result.

In the embodiment, the space position of the scribing point set on the skeleton of the entity under the world coordinate system is obtained through scribing operation, so that the space position of the scribing point set under the world coordinate system and the three-dimensional model are subjected to fine registration according to the rough registration matrix.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

Corresponding to the method, according to a second aspect of the present application, there is provided a surgical robot navigation and positioning system, referring to the schematic structural diagram of a surgical robot navigation and positioning system shown in fig. 11; the system comprises:

a preoperative planning module 1101 for determining preoperative planning information; the preoperative planning information includes a three-dimensional model of a bone, a bone prosthesis model determined based on the three-dimensional model of the bone, and a plurality of target regions determined based on the bone prosthesis model;

an intraoperative adjustment module 1102, configured to generate intraoperative planning information, and register a three-dimensional model coordinate system of a bone with a world coordinate system of the bone of the intraoperative patient to obtain a bone entity model; obtaining key data of bones, and visually displaying the key data in a knee joint solid model; in response to an operator adjustment of the bone prosthesis model based on the critical data; determining an adjusted plurality of target regions based on the adjusted bone prosthesis model;

and an executing module 1103, configured to, in response to a target area selected by an operator from the adjusted plurality of target areas as a current target area, control the robot arm according to a spatial position of the current target area and a spatial position of an actuator at an end of the robot arm of the robot, so as to limit movement of the actuator within the current target area.

The execution module 1103 is further configured to, before the operation of the actuator, when the mechanical arm moves to the bone, determine the current spatial position of the actuator and the current target region in the three-dimensional solid model according to the current positions of the tracer at the end of the mechanical arm and the tracer on the bone, which are acquired by the tracking camera;

The execution module 1103 is further configured to operate the actuator when the robot arm is operated after the plane of the actuator is coplanar with the current target area;

The executing module 1103 is further configured to stop operating the actuator when the offset amount of the target area is equal to or greater than a preset offset threshold.

the intraoperative adjustment module 1102 is further configured to obtain a spatial position of the preoperative planning point under the three-dimensional model coordinates and a spatial position of the intraoperative marker point on the solid skeleton under the world coordinate system;

The intra-operative adjustment module 1102 is further configured to perform neighborhood space search on the three-dimensional model according to the position of the scribed point set in the three-dimensional model coordinate system, so as to obtain a first neighborhood space point set;

The intraoperative adjustment module 1102 is further configured to perform triangle pairing on the points in the scribing point set according to the spatial position of the scribing point set in the world coordinate system to obtain a pairing triangle sequence;

and correcting the space position of the scribing point set under a three-dimensional model coordinate system according to the first neighborhood space point set and the pairing triangular sequence.

The intra-operative adjustment module 1102 is further configured to screen out a first set of target points from the first set of neighborhood space points;

and correcting the space position of the scribing point set under a three-dimensional model coordinate system to the position of the first target point set according to the pairing triangular sequence.

The intraoperative adjustment module 1102 is further configured to perform triangulation processing on preoperative planning points according to the spatial positions of the preoperative planning points in the three-dimensional model coordinate system by means of a preset three-dimensional space point cloud search mode, and perform triangulation processing on intraoperative marking points according to the spatial positions of the intraoperative marking points in the world coordinate system to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points;

correcting the spatial position of the preoperative planning point under a three-dimensional model coordinate system according to the planning triangular sequence in a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point;

and registering the intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points.

In one embodiment, the intraoperative adjustment module 1102 is further configured to, through a preset three-dimensional space point cloud search manner, form the first three points of the preoperative planning points into a triangle according to the spatial position of the preoperative planning points in the three-dimensional model coordinate system, and form the first three points of the intraoperative marking points into a triangle according to the spatial position of the intraoperative marking points in the world coordinate system;

respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same.

In one embodiment, the intraoperative adjustment module 1102 is further configured to determine, through a preset three-dimensional space point cloud search manner, a second neighborhood space point set on the three-dimensional model according to the spatial position of the preoperative planning point in the three-dimensional model coordinate system;

screening out a second target point set from the second neighborhood space point set;

and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position of the second target point set according to the planning triangular sequence.

The preoperative planning module 1101 and the intraoperative adjustment module 1102 are both located in the upper computer main control system 11, the unit for controlling the mechanical arm in the execution module 1103 is located in the mechanical arm system 12, and other units are located in the upper computer main control system 11.

In a third aspect, the present application further proposes an electronic device, see the schematic structural diagram of the electronic device shown in fig. 12; the apparatus includes: at least one processor 1201 and at least one memory 1202; the memory 1202 is used to store one or more program instructions; the processor 1201 is configured to execute one or more program instructions to perform any of the steps described above.

In a fourth aspect, the present application also proposes a computer-readable storage medium having one or more program instructions embodied therein for performing the steps of any one of the above.

The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.

The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.

The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.

The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above can be implemented by a general purpose computing device, they can be centralized in a single computing device or distributed over a network of multiple computing devices, and they can alternatively be implemented by program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical robot navigational positioning system, comprising:

a preoperative planning module for determining preoperative planning information; the preoperative planning information includes a three-dimensional bone model of a bone, a bone prosthesis model determined based on the three-dimensional bone model of the bone, and a plurality of target regions determined based on the bone prosthesis model, wherein determining the bone prosthesis model based on the three-dimensional bone model of the bone includes: determining bone key parameters based on the three-dimensional bone model; determining a type and model of a bone prosthesis model based on the bone key parameters;

the intraoperative adjusting module is used for generating intraoperative planning information, and registering a three-dimensional skeleton model coordinate system of a skeleton and a world coordinate system of the skeleton of the intraoperative patient to obtain a skeleton entity model; obtaining key data of a skeleton, and visually displaying the key data in a skeleton entity model; adjusting the placement position and the placement angle of the skeletal prosthesis model in response to an operator selecting the type and the model of the skeletal prosthesis model from the prosthesis library through the interactive interface based on the key data; determining an adjusted plurality of target regions based on the adjusted bone prosthesis model;

the preoperative planning information further comprises selection of bony landmark points on the three-dimensional skeleton model of the skeleton as preoperative planning points;

the intraoperative adjustment module is further configured to:

acquiring the spatial position of a planning point before an operation under the three-dimensional skeleton model coordinate and the spatial position of an intraoperative marker point on an entity skeleton under a world coordinate system;

the method for obtaining the rough registration matrix comprises the following steps of roughly registering the space position of the preoperative planning point in a three-dimensional skeleton model coordinate system and the space position of the intraoperative marker point in a world coordinate system to obtain the rough registration matrix, wherein the method for obtaining the rough registration matrix comprises the following steps: performing triangulation processing on preoperative planning points according to spatial positions of the preoperative planning points under a three-dimensional skeleton model coordinate system by a preset three-dimensional space point cloud searching mode, and performing triangulation processing on the intraoperative marking points according to spatial positions of the intraoperative marking points under a world coordinate system to obtain an actual operation triangular sequence corresponding to the intraoperative marking points and a planning triangular sequence corresponding to the preoperative planning points; correcting the spatial position of the preoperative planning point under the three-dimensional skeleton model coordinate system according to a planning triangular sequence by a preset three-dimensional space point cloud searching mode to obtain a corrected preoperative planning point; registering intraoperative marker points corresponding to the actual operation triangular sequence with the corrected preoperative planning points through a registration algorithm to obtain a coarse registration matrix;

carrying out fine registration on the space position of the scribing point set under a world coordinate system and the three-dimensional skeleton model according to the coarse registration matrix to obtain a registration result;

the intraoperative adjustment module is further configured to:

reflecting the space position of the scribing point set under the world coordinate system back to the three-dimensional skeleton model coordinate system according to the rough registration matrix to obtain the position of the scribing point set under the three-dimensional skeleton model coordinate system;

performing neighborhood space search on the three-dimensional skeleton model according to the position of the scribing point set under a three-dimensional skeleton model coordinate system to obtain a first neighborhood space point set;

correcting the space position of the scribing point set under the three-dimensional skeleton model coordinate system according to the first neighborhood space point set and the space position of the scribing point set under the world coordinate system to obtain a corrected scribing point set;

registering the corrected scribing point set and the space position of the scribing point set under a world coordinate system;

an execution module, configured to, in response to a target area selected by an operator from the adjusted plurality of target areas as a current target area, control the robot arm according to a spatial position of the current target area and a spatial position of an actuator at an end of the robot arm of the robot so as to restrict a motion of the actuator within the current target area;

the execution module is further to:

after the actuator is coplanar with the current target area, operating the actuator when the mechanical arm is operated;

and starting a Cartesian damping control mode taking the virtual springs and the dampers as a model, and outputting a feedback force F opposite to the operated direction by the mechanical arm on the basis of preset stiffness values C of the virtual springs in the directions of multiple degrees of freedom and offset quantity delta x of the actuator relative to the current target area in the directions of multiple degrees of freedom, wherein F = delta x C, so that the motion of the actuator is limited in the current target area.

2. The surgical robotic navigation positioning system of claim 1, wherein the execution module is further configured to:

before the actuator runs, when the mechanical arm moves to a skeleton, determining the current spatial position of the actuator and the current target area in the skeleton solid model according to the current positions of the tracer on the tail end of the mechanical arm and the tracer on the skeleton, which are acquired by a tracking camera;

and displaying indication adjustment information for adjusting the actuator to the current target area in the bone entity model, so that an operator operates the mechanical arm according to the indication adjustment information, the mechanical arm drives the actuator to move to the outer edge of the current target area, and the actuator and the current target area are coplanar.

3. The surgical robot navigating and positioning system according to claim 1, wherein the direction in which the actuator incises into the current target area is recorded as the depth direction, the direction perpendicular to the incising direction in the current target area is recorded as the lateral direction, and the direction perpendicular to the current target area is recorded as the vertical direction; the offset comprises an offset value in a depth direction, an offset value in a transverse direction, an offset value in a vertical direction, an offset value rotating around the depth direction, an offset value rotating around the transverse direction and an offset value rotating around the vertical direction;

4. The surgical robotic navigation positioning system of claim 1, wherein the execution module is further configured to:

and stopping operating the actuator when the offset is equal to or greater than a preset offset threshold.

5. An electronic device, comprising: at least one processor and at least one memory; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the steps performed by the system of any of claims 1-4.

6. A computer readable storage medium, comprising one or more program instructions embodied in the computer readable storage medium, the one or more program instructions for performing the steps performed by the system of any of claims 1-4.